WO2021124880A1 - 作業機械、計測方法およびシステム - Google Patents

作業機械、計測方法およびシステム Download PDF

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Publication number
WO2021124880A1
WO2021124880A1 PCT/JP2020/044793 JP2020044793W WO2021124880A1 WO 2021124880 A1 WO2021124880 A1 WO 2021124880A1 JP 2020044793 W JP2020044793 W JP 2020044793W WO 2021124880 A1 WO2021124880 A1 WO 2021124880A1
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WIPO (PCT)
Prior art keywords
bucket
boom
actuator
attached
machine body
Prior art date
Application number
PCT/JP2020/044793
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English (en)
French (fr)
Japanese (ja)
Inventor
翔太 山脇
Original Assignee
株式会社小松製作所
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 株式会社小松製作所 filed Critical 株式会社小松製作所
Priority to US17/773,270 priority Critical patent/US20240159022A1/en
Priority to EP20900895.2A priority patent/EP4053345A4/en
Priority to CN202080079979.XA priority patent/CN114761641B/zh
Publication of WO2021124880A1 publication Critical patent/WO2021124880A1/ja

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    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/26—Indicating devices
    • E02F9/264—Sensors and their calibration for indicating the position of the work tool
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01G—WEIGHING
    • G01G19/00—Weighing apparatus or methods adapted for special purposes not provided for in the preceding groups
    • G01G19/08—Weighing apparatus or methods adapted for special purposes not provided for in the preceding groups for incorporation in vehicles
    • G01G19/083—Weighing apparatus or methods adapted for special purposes not provided for in the preceding groups for incorporation in vehicles lift truck scale
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
    • E02F3/36—Component parts
    • E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
    • E02F3/43—Control of dipper or bucket position; Control of sequence of drive operations
    • E02F3/431—Control of dipper or bucket position; Control of sequence of drive operations for bucket-arms, front-end loaders, dumpers or the like

Definitions

  • This disclosure relates to work machines, measurement methods and systems.
  • Patent Document 1 A method of estimating the load weight in a bucket in a work machine such as a wheel loader is disclosed in, for example, Japanese Patent Application Laid-Open No. 2017-8633 (see Patent Document 1).
  • Patent Document 1 a list defining the relationship between the boom angle and the bottom pressure is used in order to estimate the load weight in the bucket. This list shows the relationship between the boom angle and the bottom pressure when the bucket is empty, the rated weight is loaded, and a predetermined percentage of the rated weight is loaded.
  • An object of the present disclosure is to provide a work machine, a measurement method and a system capable of accurately estimating the load mass in a bucket.
  • the work machine of the present disclosure includes a machine body, a boom, a bucket, a first actuator, a second actuator, and a controller.
  • the boom is attached to the machine body.
  • the bucket is attached to the boom.
  • the first actuator is attached to the machine body and drives the boom.
  • the second actuator is attached to the machine body and drives the bucket with respect to the boom.
  • the controller calculates the mass of the load in the bucket based on the thrust of the first actuator and the thrust of the second actuator.
  • the measuring method of the present disclosure is a measuring method for measuring the mass of a load in a bucket in a work machine.
  • the work machine has a machine body, a boom attached to the machine body, a bucket attached to the boom, a first actuator attached to the machine body to drive the boom, and a bucket attached to the machine body to drive the boom. It has a second actuator.
  • This measurement method includes the following steps.
  • Information on the thrust of the first actuator is acquired.
  • Information about the thrust of the second actuator is acquired.
  • the mass of the cargo in the bucket is calculated based on the information on the thrust of the first actuator and the information on the thrust of the second actuator.
  • the system of the present disclosure includes a machine body, a boom, a bucket, a first actuator, and a second actuator.
  • the boom is attached to the machine body.
  • the bucket is attached to the boom.
  • the first actuator is attached to the machine body and drives the boom.
  • the second actuator is attached to the machine body and drives the bucket with respect to the boom.
  • the mass of the load in the bucket is calculated based on the thrust of the first actuator and the thrust of the second actuator.
  • FIG. It is a side view of the wheel loader as an example of the work machine which concerns on Embodiment 1.
  • FIG. It is a figure which shows the functional block of the controller which measures the load mass in the bucket in the work machine which concerns on Embodiment 1.
  • FIG. It is a flow chart which shows the measurement method which measures the load mass in the bucket in the work machine which concerns on Embodiment 1.
  • FIG. It is a figure which shows the relationship between the bucket angle and the load amount when the bucket cylinder force F bucket is considered and the case where it is not considered when measuring the load mass in a bucket.
  • FIG. It is a figure which shows the functional block of the controller which measures the load mass in the bucket in the work machine which concerns on Embodiment 2.
  • FIG. 7 is a flow chart showing a measurement method for measuring the load mass in the bucket when the front-rear direction of the work machine is inclined with respect to the horizontal plane as shown in FIG. 7.
  • the configuration of the wheel loader will be described with reference to FIG. 1 as an example of the work machine according to the present embodiment.
  • the work machine in this embodiment is not limited to the wheel loader.
  • the work machine of the present embodiment may be any work machine having wheels to be excavated while traveling, and may be a backhoe loader, a skid steer loader, or the like.
  • FIG. 1 is a side view of a wheel loader as an example of the work machine according to the first embodiment.
  • the wheel loader 1 includes a vehicle body frame 2, a working machine 3, a traveling device 4, and a cab 5.
  • the machine body of the wheel loader 1 is composed of the body frame 2 and the cab 5.
  • a seat on which the operator sits, an operating device, and the like are arranged.
  • a working machine 3 and a traveling device 4 are attached to the machine body of the wheel loader 1.
  • the working machine 3 is arranged in front of the machine body, and a counterweight 6 is provided at the rearmost end of the machine body.
  • the body frame 2 includes a front frame 11 and a rear frame 12.
  • a steering cylinder 13 is attached to the front frame 11 and the rear frame 12.
  • the steering cylinder 13 is a hydraulic cylinder.
  • the steering cylinder 13 expands and contracts with hydraulic oil from a steering pump (not shown). Due to the expansion and contraction of the steering cylinder 13, the front frame 11 and the rear frame 12 can swing in the left-right direction with each other. As a result, the traveling direction of the wheel loader 1 can be changed to the left or right.
  • the direction in which the wheel loader 1 travels straight is referred to as the front-rear direction of the wheel loader 1.
  • the front-rear direction of the wheel loader 1 the side on which the work machine 3 is arranged with respect to the vehicle body frame 2 is the front direction, and the side opposite to the front direction is the rear direction.
  • the left-right direction of the wheel loader 1 is a direction orthogonal to the front-rear direction in a plan view. Looking forward, the right and left sides of the left and right directions are the right direction and the left direction, respectively.
  • the vertical direction of the wheel loader 1 is a direction orthogonal to the plane defined by the front-rear direction and the left-right direction. In the vertical direction, the side with the ground is the lower side, and the side with the sky is the upper side.
  • the traveling device 4 includes traveling wheels 4a and 4b. Each of the traveling wheels 4a and 4b is a wheel and has a tire made of rubber.
  • the traveling wheel (front wheel) 4a is rotatably attached to the front frame 11.
  • the traveling wheel (rear wheel) 4b is rotatably attached to the rear frame 12.
  • the wheel loader 1 can self-propell by rotationally driving the traveling wheels 4a and 4b.
  • the work machine 3 is for performing work such as excavation.
  • the working machine 3 is attached to the front frame 11.
  • the working machine 3 includes a bucket 14, a boom 15, a bell crank 16, a tilt rod 17, a boom cylinder 18 (first actuator), and a bucket cylinder 19 (second actuator).
  • the base end of the boom 15 is rotatably attached to the front frame 11 by a boom pin 21.
  • the boom 15 is rotatably attached to the machine body.
  • the bucket 14 is rotatably attached to the tip of the boom 15 by a bucket pin 22.
  • the boom cylinder 18 drives the boom 15.
  • One end of the boom cylinder 18 is rotatably attached to the front frame 11 of the machine body by a pin 23.
  • the boom cylinder 18 is rotatably attached to the machine body.
  • the other end of the boom cylinder 18 is rotatably attached to the boom 15 by a pin 24.
  • the boom cylinder 18 is, for example, a hydraulic cylinder.
  • the boom cylinder 18 expands and contracts with hydraulic oil from a working machine pump (not shown). As a result, the boom 15 is driven, and the bucket 14 attached to the tip of the boom 15 moves up and down.
  • the bell crank 16 is rotatably supported by the boom 15 by the support pin 29.
  • the bell crank 16 has a first end located on one side of the support pin 29 and a second end located on the opposite side of the support pin 29 from the first end.
  • the first end of the bell crank 16 is connected to the bucket 14 via a tilt rod 17.
  • the second end of the bell crank 16 is connected to the front frame 11 of the machine body via the bucket cylinder 19.
  • One end of the tilt rod 17 is rotatably attached to the first end of the bell crank 16 by a pin 27.
  • the other end of the tilt rod 17 is rotatably attached to the bucket 14 by a pin 28.
  • the bucket cylinder 19 drives the bucket 14 with respect to the boom 15.
  • the bucket cylinder 19 has one end (third end) and the other end (fourth end) on the opposite side of one end.
  • One end of the bucket cylinder 19 is rotatably attached to the front frame 11 of the machine body by a pin 25.
  • the other end of the bucket cylinder 19 is rotatably attached to the second end of the bell crank 16 by a pin 26.
  • the bucket cylinder 19 is, for example, a hydraulic cylinder.
  • the bucket cylinder 19 expands and contracts with hydraulic oil from a working machine pump (not shown). As a result, the bucket 14 is driven, and the bucket 14 rotates up and down with respect to the boom 15.
  • the wheel loader 1 further has a sensor for detecting information on the thrust F boom (boom cylinder force) of the boom cylinder 18 and a sensor for detecting information on the thrust F bucket (bucket cylinder force) of the bucket cylinder 19. ..
  • the sensors that detect the information related to the thrust of the boom cylinder 18 are, for example, pressure sensors 31b and 31h.
  • Each of the pressure sensors 31b and 31h detects the cylinder pressure of the boom cylinder 18.
  • the pressure sensor 31b detects the bottom pressure of the boom cylinder 18.
  • the pressure sensor 31h detects the head pressure of the boom cylinder 18.
  • the head pressure means the pressure on the cylinder rod side with respect to the piston of the hydraulic cylinder
  • the bottom pressure means the pressure on the tube side with respect to the piston
  • the sensors that detect the information related to the thrust of the bucket cylinder 19 are, for example, pressure sensors 32b and 32h.
  • Each of the pressure sensors 32b and 32h detects the cylinder pressure of the bucket cylinder 19.
  • the pressure sensor 32b detects the bottom pressure of the bucket cylinder 19.
  • the pressure sensor 32h detects the head pressure of the bucket cylinder 19.
  • the wheel loader 1 further has a sensor that detects information regarding the posture of the work machine 3.
  • the sensor that detects the information on the posture of the work machine 3 includes, for example, a first sensor that detects information on the boom angle and a second sensor that detects information on the bucket angle with respect to the boom.
  • the information regarding the posture of the work machine 3 is dimension L1 and dimension L4.
  • the dimension L1 is a dimension between the boom pin 21 and the pin 23, and is a dimension in a direction orthogonal to the extending direction of the boom cylinder 18.
  • the dimension L4 is a dimension between the boom pin 21 and the pin 26, and is a dimension in a direction orthogonal to the extending direction of the bucket cylinder 19.
  • the boom angle is the angle of the boom 15 with respect to the front frame 11 of the machine body.
  • the bucket angle is the angle of the bucket 14 with respect to the boom 15.
  • the first sensor that detects information about the boom angle is, for example, a potentiometer 33.
  • the potentiometer 33 is attached so as to be concentric with the boom pin 21.
  • the stroke sensor 35 of the boom cylinder 18 may be used instead of the potentiometer 33.
  • an IMU (Inertial Measurement Unit) 37 or an imaging device (for example, a camera) 39 may be used as the first sensor for detecting the information regarding the boom angle.
  • the IMU 37 is attached to, for example, a boom 15.
  • the image pickup device 39 is attached to the machine body (for example, the cab 5).
  • the second sensor that detects information about the bucket angle is, for example, a potentiometer 34.
  • the potentiometer 34 is attached so as to be concentric with the support pin 29.
  • the stroke sensor 36 of the bucket cylinder 19 may be used instead of the potentiometer 34.
  • the IMU 38 or the imaging device 39 may be used as the second sensor for detecting the information regarding the bucket angle.
  • the IMU 38 is attached to, for example, a tilt rod 17.
  • the potentiometers 33, 34, stroke sensors 35, 36, IMU 37, 38, and imaging device 39 may be used as sensors for detecting information regarding the position of the center of gravity GC1 of the work equipment 3.
  • the information regarding the position of the center of gravity GC1 of the working machine 3 is the dimension L2.
  • the dimension L2 is the dimension L2 between the center of gravity GC1 and the boom pin 21, and is a dimension along the front-rear direction of the wheel loader 1.
  • the dimension L2 is a dimension along the horizontal direction between the center of gravity GC1 and the boom pin 21 when the wheel loader 1 is placed on the horizontal ground.
  • potentiometers 33 and 34, stroke sensors 35 and 36, IMU 37 and 38, and the imaging device 39 may be used as sensors for detecting information regarding the position of the center of gravity GC2 of the cargo in the bucket 14.
  • the information regarding the position of the center of gravity GC2 of the cargo in the bucket 14 is the dimension L3.
  • the dimension L3 is the dimension L3 between the center of gravity GC2 and the boom pin 21, and is a dimension along the front-rear direction of the wheel loader 1.
  • the dimension L3 is a dimension along the horizontal direction between the center of gravity GC2 and the boom pin 21 when the wheel loader 1 is placed on the horizontal ground.
  • the wheel loader 1 may further have an angle sensor 40.
  • the angle sensor 40 detects the inclination angle (pitch angle) of the machine body with respect to the direction (horizontal plane) perpendicular to the reference gravity direction.
  • an IMU attached to the machine body may be used.
  • the angle sensor 40 may be attached to any of the front frame 11, the rear frame 12, and the cab 5 as long as it is attached to the machine body.
  • FIG. 2 is a diagram showing a functional block of a controller that measures the load mass in a bucket in the work machine shown in FIG.
  • the controller 50 includes a boom cylinder force calculation unit 50a, a bucket cylinder force calculation unit 50b, a work machine posture calculation unit 50c, a center of gravity position calculation unit 50d, and a balance equation generation of a moment related to the boom. It has a unit 50e, a cargo mass calculation unit 50f, and a storage unit 50g.
  • the boom cylinder force calculation unit 50a calculates the boom cylinder force F boom based on the cylinder pressure detected by the pressure sensors 31b and 31h. Specifically, the boom cylinder force calculation unit 50a calculates the boom cylinder force F boom based on the bottom pressure of the boom cylinder 18 acquired from the pressure sensor 31b and the head pressure acquired from the pressure sensor 31h. The boom cylinder force calculation unit 50a may calculate the boom cylinder force F boom only from the acquired bottom pressure of the boom cylinder 18. The boom cylinder force calculation unit 50a outputs the calculated boom cylinder force F boom to the moment balancing type generation unit 50e related to the boom.
  • the bucket cylinder force calculation unit 50b calculates the bucket cylinder force F bucket based on the cylinder pressure detected by the pressure sensors 32b and 32h. Specifically, the bucket cylinder force calculation unit 50b calculates the bucket cylinder force F bucket based on the bottom pressure of the bucket cylinder 19 acquired from the pressure sensor 32b and the head pressure acquired from the pressure sensor 32h. The bucket cylinder force calculation unit 50b may calculate the bucket cylinder force F bucket only from the acquired bottom pressure of the bucket cylinder 19. The bucket cylinder force calculation unit 50b outputs the calculated bucket cylinder force F bucket to the moment balancing type generation unit 50e related to the boom.
  • the work machine posture calculation unit 50c acquires information on the boom angle from the first sensor (potentiometer 33, stroke sensor 35, IMU 37, imaging device 39, etc.).
  • the work equipment attitude calculation unit 50c acquires information on the bucket angle from the second sensor (potentiometer 34, stroke sensor 36, IMU 38, imaging device 39, etc.).
  • the work machine posture calculation unit 50c calculates the dimension L1 and the dimension L4 based on the information regarding the boom angle and the information regarding the bucket angle.
  • the work machine posture calculation unit 50c outputs the calculated dimensions L1 and L4 to the moment balancing type generation unit 50e related to the boom.
  • the center of gravity position calculation unit 50d acquires information on the boom angle from the first sensor (potentiometer 33, stroke sensor 35, IMU 37, imaging device 39, etc.).
  • the center of gravity position calculation unit 50d acquires information on the bucket angle from the second sensor (potentiometer 34, stroke sensor 36, IMU 38, imaging device 39, etc.).
  • the center of gravity position calculation unit 50d calculates the dimension L2 and the dimension L3 based on the information regarding the boom angle and the information regarding the bucket angle.
  • the center of gravity position calculation unit 50d outputs the calculated dimensions L2 and L3 to the moment balance type generation unit 50e related to the boom.
  • the storage unit 50 g stores the mass M1 of the entire working machine 3, the gravitational acceleration g, and the like. Information such as mass M1 and gravitational acceleration g may be input to the storage unit 50g from an input unit 51 outside the controller 50.
  • the storage unit 50g is not included in the controller 50 and may be arranged outside the controller 50.
  • the moment balancing type generation unit 50e related to the boom acquires the mass M1 and the gravitational acceleration g of the entire working machine 3 from the storage unit 50g.
  • the moment balancing formula generation unit 50e related to the boom obtains the moment balancing formula (1) related to the boom from the acquired cylinder forces F boom and F bucket , the dimensions L1 to L4, the masses M1 and M2, and the gravitational acceleration g. Generate.
  • the unit of the cylinder force F boom and F bucket in the formula (1) is N, and the unit of the dimensions L1 to L4 is m.
  • the unit of mass M1 and M2 is kg, and the unit of gravitational acceleration g is m / s 2 .
  • the moment balancing formula generation unit 50e related to the boom outputs the formula (1) to the load mass calculation unit 50f.
  • the cargo mass calculation unit 50f solves the equation (1) for the mass M2 as in the following equation (2). As a result, the cargo mass calculation unit 50f can calculate the mass M2 of the cargo in the bucket 14.
  • the controller 50 calculates the mass M2 based on the boom cylinder force F boom , the bucket cylinder force F bucket , the dimensions L1 to L4, the mass M1, and the gravitational acceleration g. calculate.
  • the cargo mass calculation unit 50f outputs the calculated mass M2 to the display unit 52 outside the controller 50.
  • the display unit 52 may be arranged in the cab 5 (FIG. 1), for example, or may be arranged in a remote place away from the wheel loader 1.
  • the display unit 52 displays the calculated mass M2 or weight M2 ⁇ g on the screen.
  • Each of the input unit 51 and the display unit 52 may be connected to the controller 50 by wire or wirelessly.
  • the load mass M2 in the bucket 14 was calculated by collecting the entire working machine 3 as a whole, but as shown in the following formula (3), individual parts such as the bucket 14, the boom 15, and the bell crank 16 are calculated. You may calculate the moments of and add up those moments.
  • M1g ⁇ L2 of the equation (3) is substituted as M1g ⁇ L2 of the equation (2).
  • the mass M2 of the cargo in the bucket 14 is calculated in the same manner as described above.
  • FIG. 3 is a flow chart showing an example of a measurement method for measuring the load mass in the bucket in the work machine according to the first embodiment.
  • first sensor information about the boom angle is measured by the first sensor.
  • Information about the boom angle is measured, for example, by the potentiometer 33 shown in FIG.
  • the potentiometer 33 measures the rotation angle of the boom 15 with respect to the front frame 11 of the machine body.
  • the information regarding the boom angle may be the stroke length of the boom cylinder 18 measured by the stroke sensor 35. Further, the information regarding the boom angle may be the angle (or angular velocity) and acceleration of the three axes of the boom 15 measured by the IMU 37, or may be an image captured by the imaging device 39.
  • step S1a: FIG. 3 The information regarding the boom angle measured by the first sensor as described above is acquired by the controller 50 shown in FIG. 2 (step S1a: FIG. 3).
  • information about the bucket angle is measured by the second sensor.
  • Information about the bucket angle is measured, for example, by the potentiometer 34 shown in FIG.
  • the potentiometer 34 measures the rotation angle of the bell crank 16 with respect to the boom 15.
  • the information regarding the bucket angle may be the stroke length of the bucket cylinder 19 measured by the stroke sensor 36. Further, the information regarding the bucket angle may be the angle (or angular velocity) and acceleration of the three axes of the tilt rod 17 measured by the IMU 38, or may be an image captured by the imaging device 39.
  • step S1b The information regarding the bucket angle measured by the second sensor as described above is acquired by the controller 50 shown in FIG. 2 (step S1b: FIG. 3).
  • the cylinder pressure is measured.
  • the cylinder pressure is the cylinder pressure of each of the boom cylinder 18 and the bucket cylinder 19 shown in FIG.
  • the bottom pressure of the boom cylinder 18 is measured by the pressure sensor 31b, and the head pressure is measured by the pressure sensor 31h.
  • the bottom pressure of the bucket cylinder 19 is measured by the pressure sensor 32b, and the head pressure is measured by the pressure sensor 32h.
  • step S1c FIG. 3
  • the controller 50 determines the dimensions L1 and L4 regarding the posture of the work machine 3, the dimensions L3 representing the position of the center of gravity GC2, and the work machine 3 based on the acquired information about the boom angle and the information about the bucket angle.
  • the dimension L2 representing the position of the center of gravity GC1 is calculated (step S2: FIG. 3).
  • Each of the dimensions L1 and L4 is calculated by the work machine posture calculation unit 50c in FIG.
  • the dimensions L2 and L3 are calculated by the center of gravity position calculation unit 50d in FIG.
  • the controller 50 calculates the boom cylinder force F boom and the bucket cylinder force F bucket based on the acquired cylinder pressure (step S3: FIG. 3).
  • the boom cylinder force F boom is calculated by the boom cylinder force calculation unit 50a in FIG.
  • the bucket cylinder force F bucket is calculated by the bucket cylinder force calculation unit 50b in FIG.
  • the controller 50 calculates the mass M2 of the cargo in the bucket 4 (step S4: FIG. 3).
  • the load mass M2 is calculated by adding the dimensions L1 to L4 and the cylinder forces F bucket and F boom calculated above, and the mass M1 and the gravitational acceleration g of the entire working machine 3 stored in the storage unit of FIG. This is done by substituting into equation (2).
  • the load mass M2 is calculated by the load mass calculation unit 50f in FIG.
  • the mass M2 of the cargo in the bucket 14 is calculated by the controller 50.
  • the order of the calculation of the dimensions L1 to L4 (step S2) and the calculation of the cylinder force F boom and the F bucket (step S3) is not limited to the order shown in FIG.
  • the calculation of the dimensions L1 to L4 (step S2) may be performed after the calculation of the cylinder force F boom and the F bucket (step S3). Further, the calculation of the dimensions L1 to L4 (step S2) and the calculation of the cylinder force F boom and the F bucket (step S3) may be performed at the same time.
  • FIG. 4 is a diagram showing the relationship between the bucket angle and the load mass when the bucket cylinder force F bucket is taken into consideration and when the bucket cylinder force F bucket is not taken into consideration when measuring the load mass in the bucket.
  • the tilted state of the bucket 14 means a state in which the bucket 14 is rotated with respect to the boom 15 so that the front end of the bucket 14 is lifted as compared with the dump state.
  • the full tilt state means a state in which the front end of the bucket 14 is lifted until the bucket 14 is stopped by the tilt side stopper.
  • the full dump state means a state in which the front end of the bucket 14 is lowered until the bucket 14 is stopped by the dump side stopper.
  • FIG. 4 shows a calculation result assuming a case where the cargo is not discharged from the bucket 14 even when the bucket 14 is in the full dump state.
  • the load mass M2 is calculated based on the boom cylinder force F boom and the bucket cylinder force F bucket. In this way, when calculating the load mass M2 , not only the cylinder force F boom but also the bucket cylinder force F bucket is taken into consideration. Therefore, even if the position of the bucket 14 with respect to the boom 15 changes, the load mass M2 can be calculated accurately as shown by the solid line in FIG.
  • the accuracy of the load mass M2 is improved at all angles of the bucket 14 with respect to the boom 15. Therefore, the accuracy of the load mass M2 at the time of the so-called chip-off operation, in which the load amount in the bucket is adjusted at the final round trip to the dump truck or the like and the amount is confirmed in real time, is improved.
  • the equation for balancing the moment includes not only the boom cylinder force F boom but also the bucket cylinder force F bucket. Therefore, it is not necessary to perform calibration for correcting the influence of the angle of the bucket 14 after once calculating the load mass in the bucket 14. This makes it possible to easily and accurately calculate the load mass M2 in the bucket 14.
  • the bucket cylinder force F bucket is calculated based on at least the bottom pressure of the bucket cylinder 19 measured by the pressure sensor 32b. Therefore, the bucket cylinder force F bucket can be directly obtained.
  • FIG. 5 is a diagram showing a functional block of a controller that measures the load mass in a bucket in the work machine according to the second embodiment.
  • FIG. 6 is a diagram for explaining the dimensions of each part of the working machine.
  • the controller 50 of the present embodiment relates to a boom cylinder force calculation unit 50a, a bucket cylinder force calculation unit 50b, a work machine posture calculation unit 50c, a center of gravity position calculation unit 50d, and a boom. It has a moment balancing type generation unit 50e, a cargo mass calculation unit 50f, and a storage unit 50g.
  • the boom cylinder force calculation unit 50a calculates the boom cylinder force F boom and outputs the boom cylinder force F boom to the moment balancing type generation unit 50e related to the boom, as in the first embodiment.
  • the work machine posture calculation unit 50c calculates the dimensions L1 and L4 as in the first embodiment.
  • the work machine posture calculation unit 50c outputs the calculated dimensions L1 and L4 to each of the moment balancing type generation unit 50e and the bucket cylinder force calculation unit 50b related to the boom.
  • the work machine posture calculation unit 50c calculates the dimensions Rb2, Rb3, and Rb4 shown in FIG. 6 based on the information on the boom angle and the information on the bucket angle.
  • Information on the boom angle is detected by the first sensor as in the first embodiment.
  • the information detected by the first sensor is the rotation angle of the boom 15 measured by the potentiometer 33, the stroke length of the boom cylinder 18 measured by the stroke sensor 35, and the three-axis angles of the boom 15 measured by the IMU 37 ( Or angular velocity) and acceleration, or an image captured by the imaging device 39.
  • Information on the bucket angle is detected by the second sensor as in the first embodiment.
  • the information detected by the second sensor is the rotation angle of the bell crank 16 measured by the potentiometer 34, the stroke length of the bucket cylinder 19 measured by the stroke sensor 36, and the tilt rod 17 measured by the IMU 38.
  • the dimension Rb2 is the dimension between the pin 22 and the pin 27, and is the dimension in the direction orthogonal to the extending direction of the tilt rod 17.
  • the dimension Rb3 is a dimension between the pin 27 and the support pin 29, and is a dimension in a direction orthogonal to the extending direction of the tilt rod 17.
  • the dimension Rb4 is a dimension between the pin 26 and the support pin 29, and is a dimension in a direction orthogonal to the extending direction of the bucket cylinder 19.
  • the work equipment attitude calculation unit 50c outputs the calculated dimensions Rb2, Rb3, and Rb4 to each of the moment balancing type generation unit 50e and the bucket cylinder force calculation unit 50b related to the boom.
  • the center of gravity position calculation unit 50d calculates the dimensions L2 and L3 as in the first embodiment.
  • the center of gravity position calculation unit 50d outputs the calculated dimensions L2 and L3 to each of the moment balancing type generation unit 50e and the bucket cylinder force calculation unit 50b related to the boom.
  • center of gravity position calculation unit 50d calculates the dimensions Rb1 and Rb6 shown in FIG. 6 based on the information on the boom angle detected by the first sensor and the information on the bucket angle detected by the second sensor.
  • the dimension Rb1 is a dimension between the load center GC2 and the pin 22, and is a dimension along the front-rear direction of the wheel loader 1.
  • the dimension Rb2 is a dimension between the center of gravity GC3 of the bucket 14 and the pin 22, and is a dimension along the front-rear direction of the wheel loader 1.
  • the dimension Rb1 is a dimension along the horizontal direction between the load center GC2 and the pin 22 when the wheel loader 1 is placed on the horizontal ground.
  • the dimension Rb6 is a dimension along the horizontal direction between the center of gravity GC3 of the bucket 14 and the pin 22 when the wheel loader 1 is placed on the horizontal ground.
  • the center of gravity position calculation unit 50d outputs the calculated dimensions Rb1 and Rb6 to each of the moment balance type generation unit 50e and the bucket cylinder force calculation unit 50b related to the boom.
  • the storage unit 50 g stores the mass M1 of the entire working machine 3, the gravitational acceleration g, the mass M bucket of the bucket 14, and the like. Information such as the mass M1, the gravitational acceleration g, and the mass M bucket of the bucket 14 may be stored in the storage unit 50 g from the input unit 51 outside the controller 50.
  • the moment balancing equation generation unit 50e relating to the boom generates the above equation (1) and outputs the equation (1) to the load mass calculation unit 50f as in the first embodiment.
  • the bucket cylinder force calculation unit 50b acquires the mass M bucket of the bucket 14 and the gravitational acceleration g from the storage unit 50g.
  • the bucket cylinder force calculation unit 50b obtains the equation (4) of the moment balance with respect to the bucket 14 from the acquired bucket cylinder force F bucket , the dimensions Rb1 to Rb4, Rb6, the mass M bucket, M2, and the gravitational acceleration g. Generate.
  • the unit of the dimensions Rb1 to Rb4 and Rb6 in the formula (4) is m.
  • the unit of the mass M bucket is kg.
  • the controller 50 (bucket cylinder force calculation unit 50b) is based on the information on the boom angle detected by the first sensor and the information on the bucket angle detected by the second sensor.
  • the dimensions Rb1 to Rb4 and Rb6 are calculated, and the bucket cylinder force F bucket is calculated based on the dimensions Rb1 to Rb4 and Rb6.
  • the bucket cylinder force calculation unit 50b outputs the equation (4) to the cargo mass calculation unit 50f.
  • the cargo mass calculation unit 50f obtains the mass M2 by substituting the F bucket of the equation (4) for the F bucket of the equation (1). As a result, the cargo mass calculation unit 50f can calculate the mass M2 of the cargo in the bucket 14.
  • the information regarding the boom angle, the information regarding the bucket angle, and the cylinder pressures of the boom cylinder 18 and the bucket cylinder 19 are acquired (steps S1a and S1b). , S1c).
  • the controller 50 sets the dimensions L1, L4, Rb2, Rb3, Rb4 regarding the posture of the work equipment 3 and the dimensions L3, Rb1 of the load center GC2 based on the acquired information on the boom angle and the information on the bucket angle.
  • the dimension Rb6 representing the position of the bucket center of gravity GC3 and the dimension L2 of the center of gravity GC1 of the working machine 3 are calculated (step S2: FIG. 3).
  • Each of the dimensions L1, L4, Rb2, Rb3, and Rb4 is calculated by the work machine posture calculation unit 50c in FIG.
  • Each of the dimensions L2, L3, Rb1 and Rb6 is calculated by the center of gravity position calculation unit 50d in FIG.
  • the controller 50 calculates the boom cylinder force F boom and the bucket cylinder force F bucket (step S3: FIG. 3).
  • the boom cylinder force F boom is calculated by the boom cylinder force calculation unit 50a in FIG. 5 based on the acquired cylinder pressure.
  • the bucket cylinder force F bucket is calculated by the above equation (4) from the acquired dimensions Rb1 to Rb4, Rb6 and the like.
  • the bucket cylinder force F bucket is calculated by the bucket cylinder force calculation unit 50b in FIG.
  • the controller 50 calculates the mass M2 of the cargo in the bucket 4 (step S4: FIG. 3).
  • the load mass M2 is calculated by substituting the F bucket of the equation (4) for the F bucket of the equation (1) to obtain the mass M2.
  • the load mass M2 is calculated by the load mass calculation unit 50f in FIG.
  • the mass M2 of the cargo in the bucket 14 is calculated by the controller 50. ⁇ Effect> Next, the action and effect of the present embodiment will be described.
  • the load mass M2 is calculated based on the boom cylinder force F boom and the bucket cylinder force F bucket. Therefore, even if the position of the bucket 14 with respect to the boom 15 changes, the load mass M2 can be calculated accurately.
  • the bucket cylinder force F bucket is calculated based on the information regarding the angle of the boom 15 and the information regarding the angle of the bucket. Therefore, a pressure sensor for measuring the bucket cylinder force F bucket becomes unnecessary. Therefore, in the present embodiment, the number of parts can be reduced as compared with the first embodiment.
  • FIG. 7 is a diagram showing a state in which the front-rear direction of the work machine is inclined with respect to the horizontal plane.
  • FIG. 8 is a flow chart showing a measurement method for measuring the load mass in the bucket when the front-rear direction of the work machine is inclined with respect to the horizontal plane as shown in FIG. 7.
  • the wheel loader 1 is placed on an inclined surface (ground surface inclined with respect to a horizontal plane).
  • the wheel loader 1 is inclined by a pitch angle ⁇ pitch in the front-rear direction with respect to the horizontal plane.
  • ⁇ pitch it is desirable that the load mass M2 in the bucket 14 can be calculated accurately without being affected by the pitch angle ⁇ pitch.
  • the pitch angle ⁇ pitch is acquired, and the acquired pitch angle ⁇ pitch is taken into consideration to calculate the load mass M2 in the bucket 14. The contents will be specifically described below.
  • the wheel loader 1 has an angle sensor 40 attached to the machine body.
  • the pitch angle ⁇ pitch of the wheel loader 1 is measured by the angle sensor 40.
  • the angle sensor 40 may be attached to any of the front frame 11, the rear frame 12, and the cab 5.
  • the controller 50 acquires the measured pitch angle ⁇ pitch (step S1d: FIG. 8). Specifically, the center of gravity position calculation unit 50d of the controller 50 acquires the pitch angle ⁇ pitch.
  • the pitch angle ⁇ pitch is a positive value when the front of the machine body is tilted so as to be located above the rear, and the rear of the machine body is tilted so as to be located above the front. It is a negative number in the state. Therefore, in the state shown in FIG. 7, the pitch angle ⁇ pitch is a negative numerical value.
  • the center of gravity position calculation unit 50d calculates the dimensions L2 and L3 in consideration of the acquired pitch angle ⁇ pitch (step S2: FIG. 8).
  • Each of the dimensions L2 and L3 is calculated from, for example, the following equations (5) and (6).
  • the dimension L2x (unit: m) in the formula (5) is a dimension between the center of gravity GC1 of the working machine 3 and the boom pin 21, and is a dimension in the direction along the inclined surface.
  • the dimension L2y (unit: m) in the formula (5) is a dimension between the center of gravity GC1 of the working machine 3 and the boom pin 21 as shown in FIG. 7, and is a dimension along the direction perpendicular to the inclined surface. Is.
  • the dimension L3x (unit: m) in the formula (6) is the dimension between the center of gravity GC2 of the cargo in the bucket 14 and the boom pin 21, and is the dimension in the direction along the inclined surface. is there.
  • the dimension L3y (unit: m) in the equation (6) is a dimension between the center of gravity GC2 of the cargo in the bucket 14 and the boom pin 21 as shown in FIG. 7, and is in the direction perpendicular to the inclined surface. It is a dimension along.
  • the dimensions L2x, L2y, L3x, L3y in the equations (5) and (6) are calculated from the information on the boom angle and the information on the bucket angle.
  • the center of gravity position calculation unit 50d calculates the dimensions Rb1 and Rb6 in consideration of the pitch angle ⁇ pitch as well as the dimensions L2 and L3.
  • Each of the dimensions Rb1 and Rb6 is calculated from, for example, the following equations (7) and (8).
  • the controller 50 calculates the boom cylinder force F boom and the bucket cylinder force F bucket based on the acquired cylinder pressure (step S3: FIG. 8).
  • the bucket cylinder force F bucket may be calculated from the cylinder pressure of the bucket cylinder 19 measured as described in the first embodiment, or calculated from the dimensions of each part of the working machine 3 as described in the second embodiment. May be done.
  • the boom cylinder force F boom is calculated by the boom cylinder force calculation unit 50a in FIG. 2 or FIG.
  • the bucket cylinder force F bucket is calculated by the bucket cylinder force calculation unit 50b in FIG. 2 or FIG.
  • the controller 50 calculates the mass M2 of the cargo in the bucket 4 (step S4: FIG. 8).
  • the load mass M2 is calculated by using the dimensions L1 to L4 and the cylinder forces F bucket and F boom calculated above, and the mass M1 and the gravitational acceleration g of the entire working machine 3 stored in the storage unit of FIG. 2 or FIG. Is substituted into the above equation (2).
  • the controller 50 is calculated by using L2 and L3 calculated by the above equations (5) and (6) in the first embodiment, and by the above equations (5) to (8) in the second embodiment.
  • L2, L3, Rb1, and Rb6 are used to calculate the mass M2 of the cargo in the bucket 4.
  • the load mass M2 is calculated by the load mass calculation unit 50f in FIG. 2 or FIG.
  • the mass M2 of the cargo in the bucket 14 is calculated by the controller 50. Since the configuration of the work machine and the calculation method of the load mass M2 in the modified examples other than the above are almost the same as those in the first and second embodiments, the description thereof will not be repeated.
  • the dimensions L2, L3, Rb1 and Rb6 are calculated in consideration of the pitch angle ⁇ pitch. Therefore, the load mass M2 in the bucket 14 can be calculated easily and accurately on any slope and at any bucket angle.
  • the controller 50 shown in FIGS. 2 and 4 may be mounted on the work machine 1 or may be arranged apart from the outside of the work machine 1. When the controller 50 is arranged apart from the outside of the work machine 1, the controller 50 may be wirelessly connected to the sensors 31b, 31h, 32b, 32h, 33-40, and the like.
  • the controller 50 is, for example, a processor, and may be a CPU (Central Processing Unit).
  • a control system for controlling the work machine 1 by the function of the controller 50 is configured.
  • the hydraulic cylinder has been described as the boom cylinder 18 (first actuator), but the first actuator 18 is not limited to the hydraulic cylinder, and may be any one that generates a thrust for driving the boom 15, for example, electric. It may be a cylinder or the like.
  • the hydraulic cylinder has been described as the bucket cylinder 19 (second actuator), the second actuator 19 is not limited to the hydraulic cylinder, and may be any one that generates a thrust for driving the bucket 14, for example, an electric cylinder or the like. It may be.
  • the pressure sensors 31b, 31h, 32b, and 32h have been described as sensors that detect information on the thrusts of the first actuator 18 and the second actuator 19, but the sensors that detect the information on these thrusts are thrusts such as electric cylinders. It may detect information about.

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PCT/JP2020/044793 2019-12-16 2020-12-02 作業機械、計測方法およびシステム WO2021124880A1 (ja)

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US17/773,270 US20240159022A1 (en) 2019-12-16 2020-12-02 Work machine, measurement method, and system
EP20900895.2A EP4053345A4 (en) 2019-12-16 2020-12-02 CONSTRUCTION MACHINERY, MEASUREMENT METHOD AND SYSTEM
CN202080079979.XA CN114761641B (zh) 2019-12-16 2020-12-02 作业机械、计测方法以及系统

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JP7252762B2 (ja) * 2019-01-08 2023-04-05 日立建機株式会社 作業機械
CN115450278B (zh) * 2022-09-16 2023-09-22 江苏电子信息职业学院 一种装载机铲斗辅助铲掘控制方法
CN116657695B (zh) * 2023-08-01 2023-10-03 徐工集团工程机械股份有限公司科技分公司 装载机工作装置的控制方法、装置及系统

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